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firmware: harden XIAO RS485 telemetry

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nick
2026-07-26 18:01:58 -06:00
parent 8c2375d402
commit 35c0721b47
6 changed files with 50 additions and 6 deletions
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firmware/xiao-esp32c6-sensor-node/README.md
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@@ -14,6 +14,6 @@ Power both sensors from 3.3V with shared ground. Required Arduino libraries are
The BNO086 uses the verified `0x4B` I2C address on D7/D8. If initialization fails, verify 3.3V/GND, SDA/SCL wiring, and the breakout's PS0/PS1 configuration.
Firmware retries the fixed address during power-up and periodically retries afterward, so a slow BNO086 power-up does not require cycling the XIAO. If the BNO086 resets at runtime, rotation-vector reporting is enabled again automatically.
The node sends `sensor_status` at 115200 baud every 200 ms. See `docs/SENSOR_NODE_PROTOCOL.md`. The initial firmware is transmit-only; add a dashboard receiver after bench-testing the node, RS485 polarity, and sensor axes.
The node sends `sensor_status` at 115200 baud every 250 ms. See `docs/SENSOR_NODE_PROTOCOL.md`. It also listens between frames for the documented level-calibration commands. Add a dashboard receiver after bench-testing the node, RS485 polarity, and sensor axes.
During bring-up, `USB_TELEMETRY_ENABLED` mirrors each RS485 JSON frame to the Arduino Serial Monitor at 115200 baud. Set it to `0` in `sensor_node_config.h` when continuous USB output is no longer wanted.